CN113666271A - Detection method and device for suspension arm, controller and engineering machinery - Google Patents
Detection method and device for suspension arm, controller and engineering machinery Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The embodiment of the invention provides a detection method, a detection device, a controller and engineering machinery for a suspension arm, wherein the detection method for the suspension arm comprises the following steps: acquiring a reference surface, wherein the reference surface is determined based on the positions of a plurality of track points in the motion track of the top end of the suspension arm in the pitching motion process of the suspension arm in the non-side bending state; determining that the suspension arm is in a state to be detected; acquiring the position of the top end of the suspension arm in the state to be detected; and determining the lateral bending state information of the suspension arm according to the position of the top end of the suspension arm and the reference surface. The embodiment of the invention can realize automatic and accurate measurement of the sidewise bending of the suspension arm.
Description
Technical Field
The invention relates to the technical field of crane jib state detection, in particular to a detection method, a detection device, a controller and engineering machinery for a jib.
Background
The traditional suspension arm side bending detection mode is manual visual detection, and the top end of the suspension arm is projected to the ground through the natural falling of a lifting hook. The suspension arm is changed to different working amplitudes when the suspension arm is fully contracted, different projection points are projected on the ground, corresponding projection point positions are drawn on the ground by chalk according to visual results manually, the projection points are connected manually to form a straight line, and the straight line is used as a reference line. When the suspension arm is fully extended, manually and visually drawing a projection point where the suspension hook hangs down by chalk on the ground, and finally measuring the distance from the projection point to the reference line by a steel ruler to be used as a side bending amount.
However, when the hook projection is used manually for detection, the hook will swing due to the very high top end of the suspension arm. Simultaneously, the lifting hook is big apart from ground distance when the carry heavy object, and the heavy object is bulky and have the swing, and the projection point is confirmed through artifical visual mode very difficult to it is not accurate. The detection result has a great relationship with the level of the detection personnel, and the detection error is large and cannot be estimated. Therefore, it is urgently needed to provide a technical solution to solve the above technical problems in the prior art.
Disclosure of Invention
The embodiment of the invention aims to provide a detection method for a suspension arm, a detection device for the suspension arm, a controller and engineering machinery, and solves the technical problems that in the prior art, the suspension arm lateral bending detection depends on manpower and has large errors.
In order to achieve the above object, a first aspect of the present invention provides a method for detecting a boom, including: acquiring a reference surface, wherein the reference surface is determined based on the positions of a plurality of track points in the motion track of the top end of the suspension arm in the pitching motion process of the suspension arm in a non-side-bending state; determining that the suspension arm is in a state to be detected; acquiring the position of the top end of the suspension arm in a state to be detected; and determining the lateral bending state information of the suspension arm according to the position of the top end of the suspension arm and the reference surface.
In an embodiment of the present invention, the lateral bending state information includes a lateral bending amount and/or a lateral bending direction.
In an embodiment of the present invention, acquiring the reference plane includes: acquiring the positions of a plurality of track points; and fitting the positions of the plurality of track points to obtain a datum plane.
In the embodiment of the present invention, acquiring the positions of the plurality of track points includes: when the suspension arm is in a completely retracted state and is in an empty hook state, controlling the suspension arm to perform pitching motion from a minimum elevation angle to a maximum elevation angle; and acquiring the positions of a plurality of track points passed by the top end of the suspension arm in the pitching motion process.
In the embodiment of the present invention, obtaining the positions of the plurality of track points further includes: the boom is adjusted to a fully retracted and empty hook condition.
In an embodiment of the invention, the positions of the plurality of track points comprise positions of at least three track points.
In the embodiment of the invention, in the state to be detected, the straight line where the suspension arm is located is coplanar with the reference plane.
In the embodiment of the invention, in the state to be detected, the suspension arm is completely extended out, the maximum pitch angle is reached, and the load is the rated load.
A second aspect of the invention provides a controller configured to perform the detection method for a hook of the foregoing embodiments.
The third aspect of the present invention provides a detection apparatus for a boom, comprising: a differential GPS positioning device configured to detect a position of a boom tip; and the controller of the foregoing embodiment.
In an embodiment of the present invention, a differential GPS positioning device includes: an RTK positioning antenna disposed at the boom tip configured to provide positioning information of the boom tip; a differential GPS base station configured to provide differential information; and an RTK host in communication with the RTK positioning antenna and the differential GPS base station, configured to acquire the positioning information and the differential information, and determine a position of the boom tip based on the positioning information and the differential information.
A fourth aspect of the present invention provides an engineering machine, including: a suspension arm; and the detection device for the suspension arm of the previous embodiment.
According to the embodiment of the invention, the reference surface is determined based on the positions of a plurality of track points in the motion track of the top end of the suspension arm in the pitching motion process of the suspension arm in the non-lateral-bending state, and the lateral-bending state information of the suspension arm is determined according to the position of the top end of the suspension arm and the reference surface, so that special manual position calibration is not needed, the error is reduced, and the automatic and accurate measurement of the lateral bending of the suspension arm is realized.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart of a detection method 100 for a hook according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a detection device 200 for a hook according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a working machine 300 according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, an embodiment of the present invention provides a method 100 for detecting a boom, which includes the following steps:
step S110: a reference plane is acquired, wherein the reference plane is determined based on the positions of a plurality of track points in the motion trajectory of the top end of the boom during the pitching motion of the boom in the non-cornering state.
Step S130: and determining that the suspension arm is in a state to be detected. Specifically, for example, by an operator operating the apparatus where the boom is located, the state of the boom is controlled to reach the state to be detected.
Step S150: and acquiring the position of the top end of the suspension arm in a state to be detected. During specific implementation, for example, the position of the top end of the boom in the state to be detected can be read for multiple times to obtain multiple pieces of position information, an average value of the multiple pieces of position information is further obtained, the average value is used as the position of the top end of the boom in the state to be detected, and the lateral bending state information of the boom is further determined according to the average value, so that errors can be reduced, the precision is improved, and errors caused by unstable positions of the top end of the boom due to the environment such as wind and the like are avoided. And
step S170: and determining the lateral bending state information of the suspension arm according to the position of the top end of the suspension arm and the reference surface.
Specifically, the lateral bending state information includes, for example, the amount of lateral bending and/or the lateral bending direction.
The step S110 of acquiring the reference plane includes, for example: acquiring the positions of a plurality of track points; and fitting the positions of the plurality of track points to obtain a datum plane. The fitting method may be a plane fitting method such as a least square method or a gradient descent method.
More specifically, acquiring the positions of the plurality of trace points includes, for example: when the suspension arm is in a completely retracted state and is in an empty hook state, controlling the suspension arm to perform pitching motion from a minimum elevation angle to a maximum elevation angle; and acquiring the positions of a plurality of track points passed by the top end of the suspension arm in the pitching motion process. The boom arm is in a fully retracted and empty hook condition without side bending and therefore in a non-side bending condition. Specifically, for example, the positions of the multiple track points that the boom tip passes through during the pitching motion are acquired at equal time intervals, but of course, the embodiment of the present invention is not limited to this, and the positions of the multiple track points that the boom tip passes through during the pitching motion may also be acquired at non-fixed time intervals.
Further, acquiring the positions of the plurality of trace points further includes, for example: the boom is adjusted to a fully retracted and empty hook condition.
The positions of the plurality of track points comprise, for example, the positions of at least three track points, and a plane can be determined according to the positions of the three track points. Of course, the positions of the two track points may be also possible, and in this case, for example, the plane may be fitted by using the position information of another point in the plane formed by the pitching motion, for example, the position information of any point on the straight line of the boom except the top of the boom may be used.
In the state to be detected, the straight line on which the boom is located is, for example, coplanar with the reference plane.
In the state to be detected, the boom is for example fully extended, the maximum pitch angle is reached and the load is the nominal load. The engineering machinery comprising the suspension arm generally detects the side bending state information of the suspension arm before leaving a factory, and the general detection state required to be achieved is the state that the suspension arm is completely stretched out, the maximum pitch angle is achieved and the load is the rated load.
Of course, the embodiment of the present invention is not limited thereto, and the state to be detected may also be a state to be detected under other working conditions, for example, different loads may be mounted as required, and information of the lateral bending state of the boom under different loads may be calculated. The embodiment of the invention can also detect the lateral bending state information of the suspension arm in a plurality of states to be detected, can adjust the suspension arm to one state to be detected, obtain the lateral bending state information of the suspension arm according to the method, then adjust the suspension arm again to enable the suspension arm to be in the next state to be detected, then obtain the lateral bending state information of the suspension arm at the moment according to the method, and sequentially circulate to realize the detection of the lateral bending state information of the suspension arm in two or more states to be detected.
In addition, it should be understood by those skilled in the art that, in the process of actually using the information of detecting the lateral bending state of the boom, if the state of the adjusted boom is adjusted such that the straight line where the boom is located is no longer coplanar with the reference plane, it is necessary to determine a new reference plane in the current state again according to the method of the embodiment of the present invention, where the new reference plane is coplanar with the straight line where the boom is located, for example, and then determine the lateral bending state information of the boom at the current time according to the new reference plane.
The detection method 100 for a boom according to an embodiment of the present invention may be used, for example, in a construction machine including a boom, such as a crane in particular, and more specifically, for example, in boom sidewise bending detection before factory shipment or before crane operation.
Another embodiment of the invention provides a controller, for example configured to perform a detection method for a lifting hook according to any one of the preceding embodiments. The specific functions and details of the detection method for the hook may refer to the description of the foregoing embodiments, and are not repeated herein.
Specifically, the controller may be, for example, an industrial personal computer, a notebook computer, a tablet computer, an embedded system, a microprocessor, a mobile phone, a programmable logic device, or other control devices.
As shown in fig. 2, another embodiment of the present invention provides a detection device 200 for a boom, for example, mainly comprising: a differential GPS positioning device 210 and a controller 230. Wherein the differential GPS positioning device 210 is for example configured to detect the position of the boom tip, in particular the detection of the boom tip position is for example enabled based on differential GPS positioning technology, which may improve the accuracy of the positioning. The controller 230 is, for example, a controller according to any one of the preceding embodiments. For the detailed functions and details of the controller 230, reference may be made to the related descriptions of the foregoing embodiments, and further description is omitted here.
Specifically, the controller 230 may be a control device such as an industrial personal computer, a notebook computer, a tablet computer, an embedded system, a microprocessor, a mobile phone, and a programmable logic device. The controller 230 may, for example, read position data of the boom tip detected by the differential GPS positioning device 210, and further, for example, may also control the reading speed of the position data, and specifically, may be divided into two reading modes, i.e., a continuous reading mode and a single-point reading mode. In particular embodiments, the position information of the plurality of track points traversed by the boom tip during the pitching motion from the minimum elevation angle to the maximum elevation angle with the boom fully retracted and empty hook can be read, for example, by a continuous reading function in a continuous reading mode of the controller 230. The position information of the boom tip in the state to be detected is read, for example, by the single-point reading function in the single-point reading mode of the controller 230. Of course, the embodiment of the present invention is not limited to this, and the position information of the multiple track points that the boom passes through in the process of pitching from the minimum elevation angle to the maximum elevation angle when the boom is in the fully retracted and empty hook state can be read through the single-point reading function of the controller 230 in the single-point reading mode, but it needs to be read many times. For example, the position information of the top end of the boom in the state to be detected is read through the continuous reading function of the controller 230 in the continuous reading mode, at this time, an average value can be further obtained by reading the obtained plurality of position information, the average value is used as the position of the top end of the boom in the state to be detected, and the information of the lateral bending state of the boom is further determined according to the average value, so that the error can be reduced, the precision is improved, and the error caused by the unstable position of the top end of the boom due to the environment, such as wind, and the like, is avoided.
Specifically, the differential GPS positioning device 210 includes, for example: an RTK positioning antenna 211, a differential GPS base station 213, and an RTK host 215. Specifically, the differential GPS positioning device 210 may provide the position coordinates of the RTK positioning antenna 211 in real time as required by the controller 230, for example.
Therein, an RTK positioning antenna 211, for example provided at the boom tip, is configured to provide positioning information of the boom tip. The RTK positioning antenna 211 and the boom tip, for example, remain relatively fixed. The embodiment of the invention has low requirement on the position precision of the RTK positioning antenna 211, and only needs to ensure that the RTK positioning antenna 211 is at the top end of the suspension arm and keeps relatively static with the suspension arm, and the small-range installation offset has no influence on the detection result.
The differential GPS base station 213 is for example configured to provide differential information. Specifically, the differential GPS base station 213 is, for example, separately installed. In other embodiments, the differential GPS base station 213 may be replaced by other methods, such as connecting to a CORS system, i.e., a continuously operating reference station system. The CORS system includes, for example: the system comprises a reference station subsystem, a data center subsystem, a data communication subsystem and a user application subsystem, wherein the reference station subsystem, the data center subsystem and the user application subsystem are connected into a whole through a digital communication subsystem to form a special network distributed in the whole city. The detailed functions, structural details and construction and use methods of the CORS system can refer to the descriptions in the prior art, and are not described herein again. The CORS system has the trend characteristics of large scale, real-time service and real-time positioning service, can establish and maintain a reference frame for urban surveying and mapping, can provide high-precision time and space information in a full-automatic, all-weather and real-time manner, becomes the basis of regional planning, management and decision-making, can also provide differential positioning information, develops new application of traffic navigation, can provide a high-precision, high-space-time resolution, all-weather, real-time as far as possible and continuous degradable water vapor volume change sequence, and gradually forms a regional disastrous weather monitoring and forecasting system.
The RTK host 215 is in communication with, for example, the RTK positioning antenna 211 and the differential GPS base station 213, and is configured to acquire the positioning information and the differential information and determine the position of the boom tip from the positioning information and the differential information. The RTK host 215 is connected to the controller 230 through a wired or wireless signal, specifically, the RTK host 215 is connected to the controller 230 through a serial communication signal, for example, although other suitable communication methods may be used instead, for example, the RTK host 215, the data transmission module and the mobile power supply are connected through wireless data transmission communication, and at this time, the RTK host 215, the data transmission module and the mobile power supply need to be placed at the top end of the boom together, and the wiring on the boom can be avoided. The controller 230, the differential GPS base station 213, and the RTK host 215 are also connected to, for example, power supplies, respectively. Further, the RTK host 215 may also be integrated with the RTK positioning antenna 211, for example.
Another embodiment of the present invention provides a construction machine 300, for example, mainly including: a boom 310 and a detection device. Wherein the detection device is, for example, a detection device for a boom according to any one of the preceding embodiments. The detailed functions and details of the detecting device 330 can refer to the related descriptions of the foregoing embodiments, and are not repeated herein. Specifically, the working machine 300 may be, for example, a crane or the like. The work machine 300 may also include, for example, a frame on which the boom is mounted and rotatable relative to the frame, the frame supporting the boom 310.
In summary, in the embodiment of the invention, the reference surface is determined based on the positions of the track points in the motion track of the top end of the suspension arm in the pitching motion process of the suspension arm in the non-lateral-bending state, and the lateral-bending state information of the suspension arm is determined according to the position of the top end of the suspension arm and the reference surface, so that special manual position calibration is not needed, the error is reduced, and the automatic and accurate measurement of the lateral bending of the suspension arm is realized.
The following describes a detection method for a boom according to an embodiment of the present invention with reference to a specific example, specifically including the following steps:
the working machine is adjusted according to the working requirements, for example, the vehicle frame is adjusted and the like. An RTK positioning antenna of the differential GPS positioning equipment is arranged at the top end of a suspension arm of the engineering machinery, and the top end of the suspension arm are kept relatively fixed and do not move relatively. And connecting the RTK positioning antenna and the RTK host by using a special cable, and connecting a connecting wire of the RTK host to the controller. And erecting the differential GPS base station near the engineering machinery, and starting the differential GPS base station. The boom is adjusted to be in a state of complete retraction and empty hook, no side bending exists at the moment, and the manipulator controls the amplitude variation mechanism of the boom to enable the minimum elevation angle of the boom to do pitching motion and slowly change to the maximum elevation angle. During the pitching motion, the continuous reading function of the controller in the continuous reading mode is used for reading the position data of the top end of the suspension arm, which is detected by the differential GPS positioning equipment during the pitching motion, specifically the track point array passed by the top end of the suspension arm. And after the suspension arm reaches the maximum elevation angle, the controller stops reading. The track points contained in the track point array form a section of circular arc in a variable amplitude plane formed in the pitching motion process of the suspension arm, and the reference surface is obtained by utilizing the track points through fitting. Under the condition that the read sampling data are enough, for example, more than three track points, the reference surface obtained by fitting converges to the amplitude variation plane according to probability.
And converting the track point array read by the controller and passed by the top end of the suspension arm into coordinates under a space rectangular coordinate system for calculation. The plane fitting method used for fitting can be a least square method. In particular, assume that the resulting array of trace points P is readn(xn,yn,zn) Wherein n is the number of the tracing points, n is a natural number more than or equal to 3, and xn、yn、znRespectively as a track point PnX-axis coordinates, y-axis coordinates, and z-axis coordinates.
General equation for one plane: ax + By + Cz + D is 0, A, B, C, D is the four coefficients in the general equation for a plane, (x, y, z) is the coordinates of the point through which the plane passes, assuming (x, y, z) isj,yj,zj) And (x)o,yo,zo) For example during a pitching movement respectivelySampling the coordinates of the first track point and the last track point, if | xo-xj|≤|yo-yjIf the plane is biased to be parallel to the y-axis, then A ≠ 0, and then the plane equation can be expressed as: x is a0y+a1z+a2. On the contrary, if | xo-xj|>|yo-yjIf the plane is biased to be parallel to the x-axis, then B ≠ 0, which can be expressed as: a is0x+a1z+a2Wherein a is0、a1、a2For the plane equation y ═ a0x+a1z+a2Three parameters of (2).
In the second case, i.e. | xn-x0|>|yn-y0The case of | (if it is the first case, x and y in the following calculation process are exchanged, which is not described again in the embodiment of the present invention), and the plane equation is y ═ a0x+a1z+a2，(xi,yi,zi) Point P passed by planeiWhen the x-axis coordinate, the y-axis coordinate, and the z-axis coordinate of (1) and (2) 2 … N are converted into matrix operation, M ξ ═ N is obtained.
Wherein:
fitting by least squares to obtain: xi ═ MTM)-1MTN, the planar equation of y ═ a can be obtained0x+a1z+a2Three parameters a of0、a1、a2The resulting fitted plane is: a is0x+a1z+a2。
D, the fitted plane y is equal to a0x+a1z+a2As a reference surface for determining the bending status information of the boom, e.g. the amount of bending and/or the direction of bending.
When the boom is in a state to be detected, for example, the boom is completely extended out, the maximum pitch angle is reached, and the load is the rated load, the controller uses a single-point reading function in a single-point reading mode, the read data is the position data of the top end of the boom in the state to be detected, of course, a continuous reading function in a continuous reading mode can also be adopted, the average value is obtained after the data is read, and the positioning error can be reduced.
And calculating the distance from the top end of the suspension arm to the fitted reference surface in the current state to be detected to obtain the amount of lateral bending. The distance from the top end of the suspension arm to the reference surface in the current state to be detected can be calculated by using a distance formula in a space rectangular coordinate system, and during calculation, for example, the lateral bending direction can be distinguished by positive and negative without adding an absolute value.
Assuming that the position coordinate of the top end of the suspension arm in the current state to be detected is (x)k,yk,zk) Then, the obtained calculation formula of the lateral bending amount P is specifically:
similarly, when the boom side bending state information of different loads, for example, needs to be detected in other states to be detected, different loads can be mounted as required to enable the boom to reach the state to be detected, and the side bending amount and the side bending direction under different loads can be calculated according to the steps.
In summary, the embodiment of the present invention directly detects the positioning of the mark point by using the differential GPS positioning technology, reduces the error by fitting a plane, does not require special manual position calibration, has higher detection precision, eliminates the trouble of manually calibrating the projection position, realizes automatic reading and calculation in the convergence detection process, reduces the requirements on the personal skill level and experience of the detection personnel, and improves the reliability of the detection result.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (12)
1. A detection method for a suspension arm is characterized by comprising the following steps:
acquiring a reference surface, wherein the reference surface is determined based on the positions of a plurality of track points in the motion track of the top end of the suspension arm in the pitching motion process of the suspension arm in the non-side bending state;
determining that the suspension arm is in a state to be detected;
acquiring the position of the top end of the suspension arm in the state to be detected; and
and determining the lateral bending state information of the suspension arm according to the position of the top end of the suspension arm and the reference surface.
2. A method for detecting a boom as claimed in claim 1, wherein said lateral bending status information comprises lateral bending amount and/or lateral bending direction.
3. The method for detecting the suspension arm as claimed in claim 1, wherein the obtaining the reference plane comprises:
acquiring the positions of the plurality of track points; and
and fitting the positions of the plurality of track points to obtain the datum plane.
4. The method for detecting the suspension arm as claimed in claim 3, wherein the obtaining the positions of the plurality of track points comprises:
controlling the boom to pitch from a minimum elevation angle to a maximum elevation angle in a state that the boom is completely retracted and is empty of hooks; and
and acquiring the positions of the plurality of track points passed by the top end of the suspension arm in the pitching motion process.
5. The method for detecting the boom of claim 4, wherein the obtaining the positions of the plurality of track points further comprises:
adjusting the boom to a fully retracted and empty hook condition.
6. The method for detecting the suspension arm of claim 1, wherein the positions of the plurality of track points comprise positions of at least three track points.
7. The method for detecting the suspension arm as claimed in claim 1, wherein the straight line of the suspension arm is coplanar with the reference plane in the state to be detected.
8. The inspection method of claim 7, wherein in the condition to be inspected, the boom is fully extended, a maximum pitch angle is reached and the load is a rated load.
9. A controller, characterized by being configured to perform the detection method for a lifting hook according to any one of claims 1 to 8.
10. A detection device for a boom, comprising:
a differential GPS positioning device configured to detect a position of a boom tip; and
the controller of claim 9.
11. A detection apparatus for a boom as claimed in claim 10, wherein said differential GPS positioning device comprises:
an RTK positioning antenna disposed at the boom tip configured to provide positioning information of the boom tip;
a differential GPS base station configured to provide differential information; and
an RTK host in communication with the RTK positioning antenna and the differential GPS base station, configured to acquire the positioning information and the differential information, and determine a position of the boom tip based on the positioning information and the differential information.
12. A work machine, comprising:
a suspension arm; and
a detection apparatus for a boom as claimed in claim 10 or 11.
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| CN202110767507.XA CN113666271A (en) | 2021-07-07 | 2021-07-07 | Detection method and device for suspension arm, controller and engineering machinery |
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| CN202110767507.XA CN113666271A (en) | 2021-07-07 | 2021-07-07 | Detection method and device for suspension arm, controller and engineering machinery |
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